Lakatos, Dominic and Garofalo, Gianluca and Petit, Florian and Ott, Christian and Albu-Schäffer, Alin (2013) Modal Limit Cycle Control for Variable Stiffness Actuated Robots. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4919-4926. International Conference on Robotics and Automation, 2013-05-06 - 2013-05-10, Karlsruhe. doi: 10.1109/icra.2013.6631282.
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Abstract
This paper presents a control approach to stabilize limit cycle motions along a mechanical mode of variable stiffness actuated (VSA) robots. Thereby, first a PD controller with gravity and Coriolis/centrifugal compensation shapes a desired dynamics, which is decoupled in terms of modal coordinates. Then an asymptotically stable limit cycle is generated on the link side dynamics for a selected mode. Finally, the modal control approach first introduced for rigid robots is extended to the VSA case. This is done by a joint torque controller, which decouples the torque dynamics from the link side dynamics. Stability and convergence are proven for the dynamics resulting from each feedback control. Furthermore, the energy efficiency of the proposed approach is verified by simulation and experiments on the VSA robotic arm DLR Hand Arm System.
Item URL in elib: | https://elib.dlr.de/82682/ | ||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||
Title: | Modal Limit Cycle Control for Variable Stiffness Actuated Robots | ||||||||||||||||||||||||
Authors: |
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Date: | May 2013 | ||||||||||||||||||||||||
Journal or Publication Title: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||||||
DOI: | 10.1109/icra.2013.6631282 | ||||||||||||||||||||||||
Page Range: | pp. 4919-4926 | ||||||||||||||||||||||||
Series Name: | Proceedings of IEEE International Conference on Robotics and Automation | ||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||
Keywords: | limit cycles, modal decoupling, variable stiffness actuation, nonlinear control systems | ||||||||||||||||||||||||
Event Title: | International Conference on Robotics and Automation | ||||||||||||||||||||||||
Event Location: | Karlsruhe | ||||||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||||||
Event Start Date: | 6 May 2013 | ||||||||||||||||||||||||
Event End Date: | 10 May 2013 | ||||||||||||||||||||||||
Organizer: | IEEE/RAS | ||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||
DLR - Research theme (Project): | R - Terrestrial Assistance Robotics (old) | ||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems | ||||||||||||||||||||||||
Deposited By: | Lakatos, Dominic | ||||||||||||||||||||||||
Deposited On: | 11 Dec 2013 16:45 | ||||||||||||||||||||||||
Last Modified: | 24 Apr 2024 19:49 |
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